Skip to main content
×
×
Home

A reconfigurable tri-prism mobile robot with eight modes

  • Jieyu Wang (a1), Yan'an Yao (a2) and Xianwen Kong (a1)
Summary

A novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.

Copyright
Corresponding author
*Corresponding author. E-mail: jw26@hw.ac.uk
**Corresponding author. E-mail: yayao@bjtu.edu.cn
References
Hide All
1. Machado, J. A. T. and Silva, M. F., “An Overview of Legged Robots,” Proceedings of International Symposium on Mathematical Methods in Engineering, Ankara, Turquia, MME Press (2006).
2. Cobano, J. A., Estremera, J. and Santos, P. G., “Location of legged robots in outdoor environments,” Robot. Auton. Syst. 56 (9), 751761 (2008).
3. Raibert, M., Blankespoor, K., Nelson, G. and Playter, R., “Bigdog, the rough-terrain quaduped robot,” IFAC Proceedings Volumes, 41(2), (2008), pp. 10822–10825.
4. Halme, A., Schonberg, T. and Wang, Y., “Motion Control of a Spherical Mobile Robot,” Proceedings of the 4th IEEE International Workshop on Advanced Motion Control, Mie, Japan, vol. 1 (1996) pp. 259264.
5. Armou, R. H. and Vincent, J. F. V., “Rolling in nature and robotics: A review,” J. Bionic Eng. 3 (4), 195208 (2006).
6. Das, T. and Mukherjee, R., “Exponential stabilization of the rolling sphere,” Automatica 40 (11), 18771889 (2004).
7. Campion, G., Bastin, G. and Dandrea-Novel, B., “Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots,” IEEE transactions on robotics and automation, 12(1), (1996), pp. 4762.
8. Hirose, S., Biologically Inspired Robots (Snake-like Locomotor and Manipulator), (Oxford University Press, Oxford, 1993).
9. Togawa, K., Mori, M. and Hirose, S., “Study on Three-Dimensional Active Cord Mechanism Development of ACM-R2,” Proceedings of the IEEE RSJ International Conference on Intelligent Robots and Systems IROS2000, vol. 3 (2000) pp. 2242–2247.
10. Maeda, S., Hara, Y., Yoshida, R. and Hashimoto, S., “Chemical Robot-Design of Self-walking Gel,” Proceedings of the IEEE RSJ International Conference on Intelligent Robots and Systems (2007) pp. 2150–2155.
11. Zhu, J., Sun, D. and Tso, S., “Development of a tracked climbing robot,” J. Intell. Robot. Syst. 35 (4), 427443 (2002).
12. Volpe, R., Balaram, J., Ohm, T. and Ivlev, R., “The Rocky 7 Mars Rover Prototype,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, vol. 3 (1996) pp. 1558–1564.
13. Kim, Y. G., Kwak, J. H. and Hong, D. H., “Autonomous terrain adaptation and user-friendly teleoperation of wheel-track hybrid mobile robot,” Int. J. Precis. Eng. Manuf., 13 (10), 17811788 (2012).
14. Yamauchi, B., “PackBot: A Versatile Platform for Military Robotics,” Unmanned Ground Vehicle Technology VI, International Society for Optics and Photonics (2004) pp. 228–237.
15. Guarnieri, M., Takao, I., Fukushima, E. F. and Hirose, S., “HELIOS VIII Search and Rescue Robot: Design of an Adaptive Gripper and System Improvements,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (2007) 1775–1780.
16. Guarnieri, M. and Debenest, P., “Helios 7,” J. Robot. Mechatron. 141, 171177 (2003).
17. Guarnieri, M., Debenest, P., Inoh, T., Fukushima, E. and Hirose, S., “Helios VII: A new vehicle for disaster response, mechanical design and basic experiments,” Adv. Rot., 19 (8), 901927 (2005).
18. Halme, A., Suomela, J., Schönberg, T. and Wang, Y., “A Spherical Mobile Micro-Robot for Scientific Applications,” Proceedings of ASTRA, (1996).
19. Michaud, F., Létourneau, D., Arsenault, M., Bergeron, Y. and Cadrin, R., “Multi-modal locomotion robotic platform using leg-track-wheel articulations,” Auton. Robot. 18 (2), 137156 (2005).
20. Lewis, P. J., Flann, N., Torrie, M. R., Poulson, E. A., Petroff, T. and Witus, G., “Chaos: An intelligent ultra-mobile SUGV: Combining the mobility of wheels, tracks, and legs,” Proc. SPIE 5804, 427438 (2005).
21. Yim, M., Shen, W., Salemi, B., Rus, D., Moll, M., Lipson, H., Klavins, E. and Chirikjian, G., “Modular Self-reconfigurable robot systems,” IEEE Robot. Autom. Mag. 14 (1), 4352 (2007).
22. Pamecha, A., Chiang, C., Stein, D. and Chirikjian, G., “Design and Implementation of Metamorphic Robots,” Proceedings of ASME Design Engineering Technical Conference & Computers in Engineering Conference (1996).
23. Liu, C. H., Yao, Y. A., Li, R. M., Tian, Y. B., Zhang, N., Ji, Y. Y. and Kong, F. Z., “Rolling 4R linkages,” Mech. Mach. Theory, 48, 114 (2012).
24. Miao, Z. H., Yao, Y. A. and Tian, Y. B., “A type of novel usage of 4U parallelogram mechanisms-designed as a whole to be biped walking mechanism,” Robot, 33 (4), 394404 (2011).
25. Miao, Z. H. and Yao, Y. A., “A rolling 6U parallel mechanism,” Frontiers Mech. Eng. China 6 (1), 9698 (2011).
26. Hirose, S., Homma, K., Matsuzawa, S. and Hayakawa, S., “Parallel Link Walking Vehicle and its Basic Experiments,” Proceedings of the 6th Symposium on intelligent Mobile Robots (1992) pp. 78.
27. Reg Dunlop, G., Foot Design for a Large Walking Delta Robot. Experimental Robotics VIII, (Springer, Berlin Heidelberg) pp. 602–611 (2003).
28. Zhang, C. J. and Li, Y. W., “A new walking robot based on 3-RPC parallel mechanism,” J. Mech. Eng. 47, 2530 (2011).
29. Yan, C. and Zhou, Y., “Two-fold symmetrical 6r foldable frame and its bifurcations,” Int. J. Solids Struct. 46 (25), 45044514 (2009).
30. Dai, J. S. and Rees, J. J., “Mobility in metamorohic mechanisms of foldable/ erectable kinds,” ASME Trans. J. Mech. Des. 121 (3), 375382 (1999).
31. Galletti, C. and Fanghella, P., “Single-loop kinematotropic mechanisms,” Mech. Mach. Theory, 36 (6), 743761 (2001).
32. Lee, C. C. and Herve, J. M., “Discontinuously Movable 8R Mechanisms with an Infinity of Bifurcations,” Proceedings of 12th IFToMM Word Congress, Besancon, France (2007).
33. Kong, X., “Type synthesis of 3-DOF parallel manipulators with both a planar operation mode and a spatial translational operation mode,” ASME J. Mech. Robot. 5 (4), 041015 (2013).
34. Kong, X. and Huang, C., “Type Synthesis of Single-DOF Single-loop Mechanisms with Two Operation Modes,” Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (2009) pp. 136141.
35. Kong, X. and Jin, Y., “Type synthesis of 3-DOF multi-mode translational/spherical parallel mechanisms with lockable joints,” Mech. Mach. Theory, 96 (2), 323333 (2016).
36. Zhang, K. T., Fang, Y. F. and Fang, H. R., “Design and analysis of a rover mechanism based on metamorphic principle,” J. Beijing Univ. Aeronau. Astronaut. 33 (7), 838841 (2007).
37. Wang, N., Fang, Y. and Zhang, D., “A spatial single loop kinematotropic mechanism used for biped/wheeled switchable robots,” Int. J. Mech. Mater. Des. 11 (3), 287299 (2015).
38. Ding, X. L. and Xu, K., “Design and analysis of a novel metamorphic wheel-legged rover mechanism,” J. Central South Univ. 40 (1) 91101 (2009).
39. Dai, Z. and Sun, J., “A biomimetic study of discontinuous-constraint metamorphic mechanism for gecko-like robot,” J. Bionic Eng. 4 (2), 9195 (2007).
40. Tian, Y. B., Yao, Y. A. and Wang, J. Y., “A rolling 8-bar linkage mechanism,” J. Mech. Robot. 7 (4), 041002 (2014).
41. Wang, J., Yao, Y. and Kong, X., “A rolling mechanism with two modes of planar and spherical linkages,” Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. 230 (12), 21102123 (2016).
42. Huang, Z., Liu, J. and Zeng, D., “A general methodology for mobility analysis of mechanisms based on constraint screw theory,” Sci. China Series E: Technol. Sci. 52 (5), 13371347 (2009).
43. Huang, Z. and Fang, Y. F., “Kinematic characteristics analysis of 3 DOF in-parallel actuated pyramid mechanism,” Mech. Mach. Theory, 31 (8), 10091018 (1996).
44. Kong, X. and Gosselin, C. M., Type Synthesis of Parallel Mechanisms, (Springer Publishing Company, Incorporated, 2007).
45. Vukobratovic, M. and Borovac, B., “Zero-moment point-thirty five years of its life,” Int. J. Humanoid Robot. 1 (1), 157173 (2004).
46. Walter, D. R., Husty, M. L. and Pfurner, M., “A complete kinematic analysis of the SNU 3-UPU parallel robot,” Contemp. Math. 496, 331 (2009).
47. Kong, X., “Reconfiguration analysis of a 3-DOF parallel mechanism using Euler parameter quaternions and algebraic geometry method,” Mech. Mach. Theory, 74, 188201 (2014).
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords

Type Description Title
VIDEO
Supplementary materials

Wang et al. supplementary material
Wang et al. supplementary material 3

 Video (10.0 MB)
10.0 MB
UNKNOWN
Supplementary materials

Wang et al. supplementary material
Wang et al. supplementary material 1

 Unknown (26.4 MB)
26.4 MB
WORD
Supplementary materials

Wang et al. supplementary material
Wang et al. supplementary material 2

 Word (266 KB)
266 KB

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 2 *
Loading metrics...

Abstract views

Total abstract views: 13 *
Loading metrics...

* Views captured on Cambridge Core between 27th June 2018 - 19th July 2018. This data will be updated every 24 hours.